两轮自平衡小车的设计与实现

Two-wheel self-balancing car design and implementation

两轮自平衡小车被各种竞赛所喜爱,在很多大型比赛中都有涉及此方向的题目。阐述了基于飞思卡尔系列XS128单片机为核心控制器,配合陀螺仪、角度传感器实现两轮小车的自平衡。着重介绍了两轮自平衡小车的结构、平衡原理、控制算法,通过反复调试最终实现了小车的自平衡。

The self-balanced two-wheel car is popular in various competitions,and this event occured in many large games.Based on the Freescal Semiconductor XS128 series single-chip microcomputer seted as the core controller,together with the gyroscope and angle sensor,we achieved two-wheel car self balance.This paper highlights the self-balanced two-wheel structure,balance principle,control algorithm and the car self-balanced through repeated testing.